CN109760010B - Multifunctional transfer robot - Google Patents
Multifunctional transfer robot Download PDFInfo
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- CN109760010B CN109760010B CN201910201004.9A CN201910201004A CN109760010B CN 109760010 B CN109760010 B CN 109760010B CN 201910201004 A CN201910201004 A CN 201910201004A CN 109760010 B CN109760010 B CN 109760010B
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- 239000012636 effector Substances 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims description 24
- 210000000707 wrist Anatomy 0.000 claims description 10
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention provides a multifunctional transfer robot which comprises a frame, a frame driving part arranged on the inner side of the frame, a jacking part respectively arranged at the front end of the upper part of the frame and the rear end of the upper part of the frame, and a grabbing part arranged in the middle of the frame and provided with a replaceable end effector; the jacking part can carry larger or heavier goods, and the grabbing part can replace the end effector according to requirements, so that objects with different shapes or weights can be grabbed. Compared with the existing transfer robot, the transfer robot has the advantages that a working mode is added, the transfer robot can complete two works of lifting and grabbing without replacing the robot, and the transfer robot has certain universality.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a multifunctional transfer robot.
Background
The intelligent transfer robot mainly realizes the goods transfer from the starting point to the target point, and most transfer robots have single functions and can only transfer one kind of goods at present, but in actual factories, most of the transfer robots can transfer different goods on different occasions, in addition, two different kinds of goods can be required to be simultaneously transferred, or the goods on a certain goods shelf can be required to be distributed to different places, the processes can generally only be matched by using more than two different types of robots to finish work, and the more stations are, the more robots are required, so that the waste of the robots is serious.
Disclosure of Invention
The invention mainly aims to provide a multifunctional transfer robot, which aims to solve the problem of single function of the existing transfer robot.
In order to achieve the above purpose, the technical scheme adopted by the invention is to provide a multifunctional transfer robot, which comprises a frame, a frame driving part arranged on the inner side of the frame, a jacking part respectively arranged on the front end of the upper part of the frame and the rear end of the upper part of the frame, and a grabbing part arranged in the middle of the frame;
the whole frame is square and comprises a front vertical plate, a rear vertical plate, a left vertical plate, a right vertical plate, a left motor mounting plate, a right motor mounting plate, a jacking part supporting plate and a jacking part supporting column; the frame driving part comprises wheels and a wheel driving part; the jacking part comprises two jacking modules, two chain wheels, a chain, a jacking motor and a jacking motor mounting seat; the grabbing part comprises a mechanical arm jacking module, a mechanical arm translation module fixed above the mechanical arm jacking module and a mechanical arm grabbing module fixed on a translatable component in the mechanical arm translation module, wherein the mechanical arm grabbing module is a mechanical arm with multiple degrees of freedom, and the tail end of the mechanical arm grabbing module is connected with an end effector capable of being replaced and used for achieving the function of grabbing different materials by the multifunctional transfer robot.
Further, the front vertical plate is an L-shaped plate positioned at the front end, the rear vertical plate is an L-shaped plate positioned at the rear end, the left vertical plate is an L-shaped flat plate positioned at the leftmost end of the frame and fixed on the front vertical plate and the rear vertical plate respectively at the front and rear ends of the frame, the right vertical plate is an L-shaped flat plate positioned at the rightmost end of the frame and fixed on the front vertical plate and the rear vertical plate respectively at the front and rear ends of the frame, the left motor mounting plate is an L-shaped flat plate positioned at the inner side of the frame and fixed on the front vertical plate and the rear vertical plate respectively at the front and rear ends of the frame, the left motor mounting plate is an arc-shaped hole formed in the upper end of the middle of the left motor mounting plate, the right motor mounting plate is an L-shaped flat plate positioned at the inner side of the right side of the frame and fixed on the front vertical plate and the rear vertical plate respectively at the front and rear ends of the front and rear vertical plates respectively, the jacking part support plates are two, the jacking support plates are L-shaped flat plates respectively fixed at the front end and the rear end of the frame respectively, the jacking support columns are threaded solid support columns are four, and the jacking part support columns are respectively fixed at the front half side surfaces of the left motor mounting plate and the front half side of the motor mounting plate are respectively fixed at the front half side of the front and the front half lifting plate and the front side of the front half lifting plate respectively.
Further, the wheel driving part comprises a driving wheel motor, a first gear, a second gear, a driving wheel shaft, a driving wheel bearing mounting frame, a wheel retainer ring and a gear retainer ring;
the four driving wheel motors are arranged, two driving wheel motors are arranged on the front half part and the rear half part of the inner side of the left motor mounting plate through bolt connection, the other two driving wheel motors are arranged on the front half part and the rear half part of the inner side of the right motor mounting plate through bolt connection, the four first gears are respectively fixed on driving wheel motor shafts, the four second gears are respectively fixed on driving wheel shafts, the second gears are meshed with the first gears, one side of each second gear is tightly attached to the shaft shoulder of the driving wheel shaft, the other side of each second gear is tightly attached to each gear retainer ring, the four wheels are connected to the driving wheel shaft through keys, two ends of each driving wheel shaft are respectively arranged on the inner ring of each driving wheel bearing, the inner ring of each driving wheel bearing is tightly attached to the shaft shoulder of the driving wheel shaft, the outer ring of each driving wheel bearing is tightly attached to the driving wheel bearing mounting frame, the driving wheel bearing mounting frame is fixed on the left vertical plate, the right vertical plate, the left motor mounting plate and the right motor mounting plate, and the wheels and the gear retainer rings are fixed in grooves on the driving wheel shaft.
Further, the two jacking modules comprise a jacking module shell, a jacking module shell top plate, a worm, a jacking part worm bearing, a jacking module worm bearing mounting seat, a worm wheel, a jacking module internal thread stepped shaft, a lower deep groove ball bearing, a gasket, a thrust ball bearing, a U-shaped ring, an upper deep groove ball bearing, a jacking module dustproof top plate, a guide lifting rod, a jacking plate and a screw rod;
the lifting module shell is connected to the lifting part support column through bolts, the lower flat plate part of the lifting module shell is fixed to the lifting part support plate, the lifting motor mounting seat is connected to the lower flat plate part of the lifting module shell through bolts, the lifting motor is horizontally fixed to the lifting motor mounting seat, the chain wheel is connected to the lifting motor shaft through a key, and the chain is meshed with the two chain wheels;
the jacking module shell top plate is fixed on the jacking module shell, and is provided with two through holes with different sizes and four threaded holes, wherein the larger through hole is used for passing through a screw rod, the smaller through hole is used for passing through a guide lifting rod, and the four threaded holes are used for connecting the dustproof top plate of the jacking module and the jacking module shell top plate in a threaded manner;
the worm is connected with a shaft pin of the jacking motor, the worm is supported by a jacking part worm bearing, an outer ring of the jacking part worm bearing is tightly abutted against a worm bearing mounting seat of the jacking module, an inner ring of the jacking part worm bearing is tightly abutted against a worm shaft shoulder, the worm bearing mounting seat of the jacking module is fixed on a shell of the jacking module, and the worm wheel is meshed with the worm in the horizontal direction;
the upper end face of the worm wheel is tightly abutted to the lower surface of the U-shaped ring, the upper surface of the U-shaped ring is tightly abutted to the lower end of the inner ring of the upper deep groove ball bearing, the upper end of the outer ring of the upper deep groove ball bearing is tightly abutted to the lower surface of the dustproof top plate of the jacking module, the dustproof top plate of the jacking module is in threaded connection with the upper surface of the shell of the jacking module, the lower end face of the worm wheel is tightly abutted to the upper end face of the shaft shoulder of the stepped shaft of the internal thread of the jacking module, the upper end of the inner ring of the lower deep groove ball bearing is tightly abutted to the upper end of the gasket, the lower end of the gasket is tightly abutted to the upper surface of the thrust ball bearing, the lower surface of the thrust ball bearing is tightly abutted to the shell of the jacking module, the screw rod penetrates through the stepped shaft of the internal thread of the jacking module, the screw rod is in threaded connection with the stepped shaft of the internal thread of the jacking module, the jacking plate is welded at the top of the screw rod for jacking goods, the guide rod is vertically arranged, the top of the guide rod is welded on the lower surface of the jacking plate, and the guide rod penetrates through the through hole of the upper end of the shell top plate of the jacking module.
Further, the mechanical arm jacking module comprises a mechanical arm jacking driving motor and a mechanical arm jacking mechanism, the mechanical arm translation module comprises a mechanical arm translation motor, a mechanical arm translation motor mounting seat, a translation motor coupler, a guide rod mounting seat, a moving table, a translation screw rod, a translation guide rod and a mechanical arm translation chassis, and the mechanical arm grabbing module comprises a mechanical arm turntable base, a mechanical arm turntable, a mechanical arm shoulder, a mechanical arm big arm, a mechanical arm elbow, a mechanical arm small arm, a mechanical arm wrist and an end effector;
the mechanical arm jacking driving motor is horizontally arranged in an arc-shaped hole in the middle of the left motor mounting plate, the mechanical arm jacking driving motor is connected to a worm in the mechanical arm jacking mechanism through a shaft pin, and the mechanical arm jacking mechanism and a jacking module in the jacking part are identical in structure;
the mechanical arm translation chassis is fixed on a lifting plate in the mechanical arm lifting mechanism, the mechanical arm translation motor mounting seat is fixed at the left end of the upper surface of the mechanical arm translation chassis, the mechanical arm translation motor is connected to the mechanical arm translation motor mounting seat through bolts, the translation guide rods are coaxially mounted with the mechanical arm translation motor through translation motor couplings, two guide rod mounting seats are respectively fixed at the left and right ends of the upper surface of the mechanical arm translation chassis, through holes are respectively formed in the left part, the middle part and the right part of the guide rod mounting seat, through holes are respectively formed in the left part, the middle part and the right part of the moving table, the translation guide rods penetrate through the two guide rod mounting seats and the middle through holes of the moving table, the two translation guide rods are distributed on two sides of the translation guide rods in parallel, the two translation guide rods are respectively connected in the corresponding through holes of the left part and the right part of the two guide rod mounting seats through pins, the lower surface of the moving table is in lubricating contact with the mechanical arm translation chassis through oil films, and the translation guide rods are translated between the two guide rod mounting seats through the translation guide rods;
the mechanical arm turntable base is fixed on the moving table, the mechanical arm turntable is fixed on a rotatable disc extending from the top end of the mechanical arm turntable base, the mechanical arm shoulder is fixed on the mechanical arm turntable, one end of the mechanical arm is connected to a revolute pair of the mechanical arm shoulder, the other end of the mechanical arm is connected to a revolute pair of the mechanical arm elbow, one end of the mechanical arm is connected to a rotating shaft of the mechanical arm elbow, the other end of the mechanical arm is connected to a revolute pair of the mechanical arm wrist, an end effector is fixed on the mechanical arm wrist, and each movable part on the mechanical arm grabbing module is driven by a motor.
Further, the jacking module shell is a shell with a flat plate part arranged at the lower part and a square-like upper part, a threaded hole is formed in the flat plate at the lower part of the jacking module shell and is used for being in threaded connection with the jacking module shell and the jacking part supporting plate, two concentric through holes are formed in the upper and lower parts of the shell of the jacking module shell and are used for passing through a worm, and four threaded holes are formed in one side of the shell of the jacking module shell and are used for fixing a worm bearing mounting seat of the jacking module.
Further, the wheels are Mecanum wheels and are used for realizing the omnibearing movement of the multifunctional transfer robot, and anti-slip materials are arranged on the jacking plate and used for preventing the multifunctional transfer robot from slipping when transferring goods.
Further, the end effector is a pair of electrically powered parallel jaws that are primarily used to grasp relatively low weight materials.
Further, the end effector is an electromagnetic chuck and is mainly used for adsorbing iron workpieces.
Further, the end effector is a vacuum chuck and is mainly used for adsorbing materials with relatively flat surfaces.
The beneficial effects of the invention are as follows: the invention has lower overall structure height, is beneficial to running to the bottom of the goods shelf, and is beneficial to jacking the goods shelf and conveying the goods shelf to the appointed position; when the goods shelf is lifted, the mechanical arm grabbing module can grab smaller materials to be transported together, so that the two functions of lifting and grabbing are compatible; in the lifting goods shelf conveying process, the mechanical arm grabbing module can place different goods on the goods shelf to different positions according to site requirements, so that the goods distributing function is realized, or the goods at different positions on a working site are grabbed on the goods shelf, so that the goods picking function is realized. In addition, the mechanical arm jacking module and the mechanical arm translation module in the grabbing part enlarge the working range space of the mechanical arm grabbing module.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the chassis structure of the present invention;
FIG. 3 is a schematic illustration of a wheel mounting of the present invention;
FIG. 4 is an overall schematic of the jacking portion of the present invention;
FIG. 5 is a schematic diagram of the interior of a jacking module according to the present invention;
FIG. 6 is a cross-sectional view of a worm of the jacking module of the present invention;
FIG. 7 is a schematic view showing the overall structure of the gripping portion of the present invention;
FIG. 8 is a schematic view showing the internal structure of the gripping portion of the present invention;
FIG. 9 is a schematic diagram of a jacking module housing according to the present invention;
FIG. 10 is a schematic diagram of a robotic arm gripper module with an electromagnetic chuck according to the present invention;
FIG. 11 is a schematic view of an electrically powered parallel jaw of the present invention;
fig. 12 is a schematic view of a vacuum chuck according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a frame; 2. a frame driving part; 3. a jacking portion; 4. a grasping portion; 1-1, a front vertical plate; 1-2, a rear vertical plate; 1-3, left vertical plate; 1-4, right vertical plates; 1-5, a left motor mounting plate; 1-6, right motor mounting plate; 1-7, lifting part of the supporting plate; 1-8, lifting part of the support column; 2-1, driving a wheel motor; 2-2, a first gear; 2-3, a second gear; 2-4, driving the wheel axle; 2-5, driving wheel bearings; 2-6, wheels; 2-7, a wheel retainer ring; 2-8, gear check ring; 2-9, driving wheel bearing mounting frame; 3-1, jacking the module shell; 3-2, jacking a module shell top plate; 3-3, jacking a motor mounting seat; 3-4, lifting the motor; 3-5, chain wheel; 3-6, a chain; 3-7, a worm; 3-8, lifting part of worm bearings; 3-9, jacking a module worm bearing mounting seat; 3-10, worm gear; 3-11, jacking a module internal thread stepped shaft; 3-12, a lower deep groove ball bearing; 3-13, a gasket; 3-14, thrust ball bearings; 3-15, U-shaped ring; 3-16, upper deep groove ball bearings; 3-17, a dustproof top plate of the jacking module; 3-18, a guide lifting rod; 3-19, jacking plate; 3-20 parts of screw rod; 4-1, lifting a driving motor by the mechanical arm; 4-2, a mechanical arm translation motor; 4-3, a mechanical arm translation motor mounting seat; 4-4, a translational motor coupler; 4-5, a guide rod mounting seat; 4-6, mobile station; 4-7, translating the screw rod; 4-8, translating the guide rod; 4-9, translating the underframe by the mechanical arm; 4-10, a mechanical arm turntable base; 4-11, a mechanical arm turntable; 4-12, mechanical arm shoulders; 4-13, a large arm of a mechanical arm; 4-14, elbow parts of mechanical arms; 4-15, a mechanical arm small arm; 4-16, mechanical arm wrist; 4-17, end effector; 401. the mechanical arm jacking module; 402. a mechanical arm translation module; 403. and the mechanical arm grabbing module.
Detailed Description
The technical solutions according to the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, which are provided for illustrating the present invention but not for limiting the scope of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., and the meaning of "multiple degrees of freedom" means at least two degrees of freedom, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "coupled," "affixed," and the like are to be construed broadly, and for example, "affixed" may be either a fixed connection, a removable connection, or an integral body, unless explicitly specified otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Fig. 1 is a schematic view of the overall structure of the present invention, which includes a frame 1, a frame driving portion 2 disposed on the inner side of the frame, a lifting portion 3 disposed on the front end of the upper portion of the frame and the rear end of the upper portion of the frame, and a gripping portion 4 disposed in the middle of the frame.
The whole frame 1 is square and comprises a front vertical plate 1-1, a rear vertical plate 1-2, a left vertical plate 1-3, a right vertical plate 1-4, a left motor mounting plate 1-5, a right motor mounting plate 1-6, a jacking part supporting plate 1-7 and a jacking part supporting column 1-8; the frame driving portion 2 includes wheels 2-6 and a wheel driving portion; the jacking part 3 comprises two jacking modules, two chain wheels 3-5, a chain 3-6, a jacking motor 3-4 and a jacking motor mounting seat 3-3; the grabbing part 4 comprises a mechanical arm jacking module 401, a mechanical arm translation module 402 fixed above the mechanical arm jacking module 401 and a mechanical arm grabbing module 403 fixed on a translatable component in the mechanical arm translation module 402, wherein the mechanical arm grabbing module 403 is a mechanical arm with multiple degrees of freedom, and the tail end of the mechanical arm grabbing module is connected with an end effector which can be replaced and is used for realizing the function of grabbing different materials by the multifunctional transfer robot.
As shown in FIG. 2, the front vertical plate 1-1 is an L-shaped plate at the front end, the rear vertical plate 1-2 is an L-shaped plate at the rear end, the left vertical plate 1-3 is an L-shaped plate at the leftmost end of the frame 1, the front and rear ends of which are respectively fixed on the front vertical plate 1-1 and the rear vertical plate 1-2, the right vertical plate 1-4 is an L-shaped plate at the rightmost end of the frame 1, the front and rear ends of which are respectively fixed on the front vertical plate 1-1 and the rear vertical plate 1-2, the left motor mounting plate 1-5 is an L-shaped plate at the inner side of the frame 1 near the left part, the front and rear ends of which are respectively vertically fixed on the front vertical plate 1-1 and the rear vertical plate 1-2, the left motor mounting plate middle upper end is provided with an arc hole, the right motor mounting plate 1-6 is an L-shaped plate at the inner side near the right part of the frame, the front and rear ends of which are respectively vertically fixed on the front vertical plate 1-2, the jacking part 1-7 is provided with two jacking part support plates 1-7, the jacking part support plates 1-7 are respectively fixed on the left side surface of the frame 1-8 and the front and the left side of which are respectively fixed on the front half-8, the front and the left side surface of the left motor mounting plate is respectively fixed on the front half-8, the front and the left side of the front side of the frame 1-8 is respectively, the jacking part is respectively fixed on the left side of the front side of the frame 1-8.
As shown in fig. 2 and 3, the wheel driving part includes a driving wheel motor 2-1, a first gear 2-2, a second gear 2-3, a driving wheel shaft 2-4, a driving wheel bearing 2-5, a wheel retainer ring 2-7, a gear retainer ring 2-8, and a driving wheel bearing mounting frame 2-9.
The four driving wheel motors 2-1 are arranged, two driving wheel motors 2-1 are arranged on the front half part and the rear half part of the inner side of the left motor mounting plate 1-5 through bolt connection, the other two driving wheel motors 2-1 are arranged on the front half part and the rear half part of the inner side of the right motor mounting plate 1-6 through bolt connection, the four first gears 2-2 are respectively fixed on the shaft of the driving wheel motor 2-1, the four second gears 2-3 are respectively fixed on the driving wheel shaft 2-4, the second gears 2-3 are meshed with the first gears 2-2, one side of each second gear 2-3 is tightly attached to the shaft shoulder of the driving wheel shaft 2-4, the other side of each second gear 2-3 is tightly attached to the gear retainer 2-8, the four wheels 2-6 are connected to the driving wheel shaft 2-4 through keys, two ends of each driving wheel shaft 2-4 are respectively arranged on the inner ring of the driving wheel bearing 2-5, the inner ring of the driving wheel bearing 2-5 is tightly attached to the shaft shoulder of the driving wheel shaft 2-4, the driving wheel bearing 2-5 is tightly attached to the driving wheel shaft bearing 2-9, the driving wheel motor is tightly attached to the driving wheel shaft 2-4, the left side bearing 2-9 is tightly attached to the driving wheel shaft bearing 2-4, and the right motor mounting plate is fixedly attached to the left wheel shaft 1-4 and the right motor mounting plate 2-4.
As shown in fig. 4, 5 and 6, the two jacking modules comprise a jacking module shell 3-1, a jacking module shell top plate 3-2, a worm 3-7, a jacking part worm bearing 3-8, a jacking module worm bearing mounting seat 3-9, a worm wheel 3-10, a jacking module internal thread stepped shaft 3-11, a lower deep groove ball bearing 3-12, a gasket 3-13, a thrust ball bearing 3-14, a U-shaped ring 3-15, an upper deep groove ball bearing 3-16, a jacking module dustproof top plate 3-17, a guide jacking rod 3-18, a jacking plate 3-19 and a screw rod 3-20.
The lifting module shell 3-1 is connected to the lifting part supporting column 1-8 through bolts, the lower flat plate part of the lifting module shell is fixed to the lifting part supporting plate 1-7, the lifting motor mounting seat 3-3 is connected to the lower flat plate part of the lifting module shell 3-1 through bolts, the lifting motor 3-4 is horizontally fixed to the lifting motor mounting seat 3-3, the chain wheel 3-5 is connected to the lifting motor 3-4 through keys, and the chain 3-6 is meshed with the two chain wheels 3-5.
The jacking module shell top plate 3-2 is fixed on the jacking module shell 3-1, the jacking module shell top plate 3-2 is provided with two through holes with different sizes and four threaded holes, the larger through hole is used for passing through the screw rod 3-20, the smaller through hole is used for passing through the guide lifting rod 3-18, and the four threaded holes are used for connecting the jacking module dustproof top plate 3-17 and the jacking module shell top plate 3-2 in a threaded manner.
The worm 3-8 is connected with a 3-4 shaft pin of the jacking motor, the worm 3-7 is supported by a jacking part worm bearing 3-8, the outer ring of the jacking part worm bearing 3-8 is tightly abutted to a jacking module worm bearing mounting seat 3-9, the inner ring of the jacking part worm bearing 3-8 is tightly abutted to a shaft shoulder of the worm 3-7, the jacking module worm bearing mounting seat 3-9 is fixed on a jacking module shell 3-1, and a worm wheel 3-10 is meshed with the worm 3-7 in the horizontal direction.
The upper end face of the worm wheel 3-10 is tightly abutted against the lower surface of the U-shaped ring 3-15, the upper surface of the U-shaped ring 3-15 is tightly abutted against the lower end of the inner ring of the upper deep groove ball bearing 3-16, the upper end of the outer ring of the upper deep groove ball bearing 3-16 is tightly abutted against the lower surface of the lifting module dustproof top plate 3-17, the lifting module dustproof top plate 3-17 is in threaded connection with the upper surface of the lifting module shell 3-1, the lower end face of the worm wheel 3-10 is tightly abutted against the upper end face of the shoulder of the lifting module internal threaded stepped shaft 3-11, the inner ring upper end of the lower deep groove ball bearing 3-12 is tightly abutted against the lower end face of the shoulder of the lifting module internal threaded stepped shaft 3-11, the lower inner ring lower end of the lower deep groove ball bearing 3-12 is tightly abutted against the upper end of the gasket 3-13, the lower end of the gasket 3-13 is tightly abutted against the upper surface of the thrust ball bearing 3-14, the lower surface of the thrust ball bearing 3-14 is tightly abutted against the lifting module shell 3-1, the lead screw 3-20 penetrates through the lifting module internal threaded stepped shaft 3-11, the lead screw 3-20 is connected with the lifting module internal threaded stepped shaft 3-11, the lead screw 3-20 is in threaded connection with the lifting module internal threaded stepped shaft 3-11, the lead screw 3-18 penetrates through the upper guide rod 3-18, and the upper guide rod 3-18 is welded on the top surface of the lifting module 3-18, and the top plate 3-18 is welded on the top of the lifting module.
As shown in fig. 7 and 8, the mechanical arm lifting module 401 includes a mechanical arm lifting driving motor 4-1 and a mechanical arm lifting mechanism; the mechanical arm translation module 402 comprises a mechanical arm translation motor 4-2, a mechanical arm translation motor mounting seat 4-3, a translation motor coupler 4-4, a guide rod mounting seat 4-5, a moving table 4-6, a translation screw rod 4-7, a translation guide rod 4-8 and a mechanical arm translation chassis 4-9, and the mechanical arm grabbing module 403 comprises a mechanical arm turntable base 4-10, a mechanical arm turntable 4-11, a mechanical arm shoulder 4-12, a mechanical arm big arm 4-13, a mechanical arm elbow 4-14, a mechanical arm small arm 4-15, a mechanical arm wrist 4-16 and an end effector 4-17.
As shown in fig. 1, the mechanical arm lifting driving motor 4-1 is horizontally placed in an arc hole in the middle of the left motor mounting plate 1-5, the mechanical arm lifting driving motor 4-1 is connected to a worm in the mechanical arm lifting mechanism through a shaft pin, and the mechanical arm lifting mechanism has the same structure as a lifting module in the lifting part.
As shown in fig. 7 and 8, a mechanical arm translation chassis 4-9 is fixed on a lifting plate in a mechanical arm lifting mechanism, a mechanical arm translation motor mounting seat 4-3 is fixed at the upper left end of the mechanical arm translation chassis 4-9, a mechanical arm translation motor 4-2 is connected to the mechanical arm translation motor mounting seat 4-3 through bolts, a translation screw rod 4-7 is coaxially mounted with the mechanical arm translation motor 4-2 through a translation motor coupler 4-4, two guide rod mounting seats 4-5 are respectively fixed at the left end and the right end of the upper surface of the mechanical arm translation chassis 4-9, through holes are respectively formed in the left part, the middle part and the right part of the guide rod mounting seat 4-5, through holes are respectively formed in the left part, the middle part and the right part of a moving table 4-6, the translation screw rod 4-7 passes through the middle through holes of the two guide rod mounting seats 4-5 and the moving table 4-6, the two translation guide rods 4-8 are respectively connected to the two sides of the translation screw rod 4-7 through pins, the two guide rod mounting seats 4-5 are respectively in parallel, the two guide rod mounting seats 4-6 are respectively contacted with the two guide rod mounting seats 4-6, and the two guide rod mounting seats 4-6 move between the two guide rod mounting seats 4-6 and the corresponding to the two guide rod mounting seats 4-6 move through the left part and the right part of the moving table 4-6.
The mechanical arm turntable base 4-10 is fixed on a moving table, the mechanical arm turntable 4-11 is fixed on a rotatable disc extending from the top end of the mechanical arm turntable base 4-10, the mechanical arm shoulder 4-12 is fixed on the mechanical arm turntable 4-11, one end of the mechanical arm big arm 4-13 is connected to a revolute pair of the mechanical arm shoulder 4-12, the other end of the mechanical arm big arm 4-13 is connected to a revolute pair of the mechanical arm elbow 4-14, one end of the mechanical arm small arm 4-15 is connected to a rotating shaft of the mechanical arm elbow 4-14, the other end of the mechanical arm small arm 4-15 is connected to a revolute pair of the mechanical arm wrist 4-16, an end effector 4-17 is fixed on the mechanical arm wrist 4-16, and each movable part on the mechanical arm grabbing module 403 is driven by a motor (except a vacuum chuck).
As shown in fig. 9, the lifting module housing 3-1 is a housing with a flat plate portion at a lower portion and an approximately square upper portion, a threaded hole is formed in the flat plate at the lower portion of the lifting module housing 3-1 for threaded connection with the lifting module housing 3-1 and the lifting portion supporting plate 1-7, two concentric through holes are formed in the housing of the lifting module housing 3-1 for passing through a worm, and four threaded holes are formed in one side of the housing of the lifting module housing 3-1 for fixing the lifting module worm bearing mounting seat 3-9.
As shown in fig. 1, 2 and 3, the wheels may be mecanum wheels, which are used for realizing omnibearing movement of the multifunctional transfer robot, and the lifting plates 3-19 may be provided with anti-slip materials, so as to prevent the problem of slipping of the goods when the multifunctional transfer robot transfers the goods.
As shown in fig. 10, the end effector may be an electromagnetic chuck, primarily for attracting ferrous workpieces.
As shown in fig. 11, the end effector may also be a pair of motorized parallel jaws primarily for gripping a relatively low weight material.
As shown in fig. 12, the end effector may also be a vacuum chuck, which is used to primarily hold material with a relatively flat surface.
The invention has two loading modes, namely lifting up goods and grabbing goods. When the size or weight of the goods to be carried is large and enough space for the invention to enter is reserved between the lower surface of the goods and the ground, the lifting part 3 is used for carrying the goods, and if the space reserved between the lower surface of the goods and the ground is insufficient for the invention to enter, the goods can be carried onto the lifting plates 3-19 by manpower or other equipment; when the size or weight of the carried goods is small and the reserved space between the lower surface of the goods and the ground is insufficient for the present invention to enter, the present invention uses the gripping part to carry the goods; in addition, in the process of lifting the goods shelf for conveying, the mechanical arm grabbing module 403 can place different goods on the goods shelf to different positions on the site according to site requirements, so that the goods distributing function is realized, or the goods at different positions on the working site are grabbed on the goods shelf, so that the goods picking function is realized.
When carrying goods in a jacking mode:
first, as shown in fig. 2, the driving wheel motor 2-1 rotates forward to drive the first gear 2-2 to rotate in the same direction, so that the second gear 2-3 meshed with the first gear 2-2 rotates in the opposite direction (relative to the rotation direction of the driving wheel motor 2-1), the driving wheel shaft 2-4 connected with the second gear 2-3 rotates in the opposite direction (relative to the rotation direction of the driving wheel motor 2-1), the wheels 2-6 rotate in the opposite direction (relative to the rotation direction of the driving wheel motor 2-1), and the wheels can be controlled by controlling the rotation directions of the four driving wheel motors 2-1, thereby realizing the omnibearing movement of the invention, and enabling the invention to reach the position right below the goods to be carried along a certain path.
Next, as shown in fig. 4, 5 and 6, the jacking motor 3-4 rotates forward, and the chain wheel 3-5 on the other jacking module rotates synchronously through the chain 3-6 meshed with the chain wheel 3-5, so that synchronous lifting of the two jacking modules is realized, and only the movement of any one of the jacking modules is specifically described herein because the internal movements of the two jacking modules are identical.
As shown in fig. 4, 5 and 6, the jacking motor 3-4 rotates forward, the worm 3-7 connected with the jacking motor 3-4 shaft rotates synchronously with the worm, the worm wheel 3-10 and the jacking module internal thread stepped shaft 3-11 connected with the worm wheel 3-10 rotate forward, the jacking plate 3-19 is welded on the screw rod 3-20, the top of the guide rod 3-18 is welded on the jacking plate 3-19, the lower end of the guide rod 3-18 is placed in the smaller through hole at the upper end of the jacking module shell top plate 3-2, so that the rotary motion of the screw rod 3-20 is limited, and the screw rod 3-20 connected with the jacking module internal thread stepped shaft 3-11 in a threaded mode and the jacking plate 3-19 welded with the screw rod 3-20 move vertically upwards until the jacking plate 3-19 jacks up goods, and the jacking motor 3-4 stops rotating.
Again, by controlling the rotational directions of the four driving wheel motors 2-1, the determined movement of the present invention can be achieved, so that the present invention reaches the target point along a certain path.
The jacking motor 3-4 is reversed, the worm 3-7 connected with the jacking motor 3-4 shaft rotates synchronously with the worm, the worm wheel 3-10 and the jacking module internal thread stepped shaft 3-11 connected with the worm wheel 3-10 are driven to be reversed, so that the screw rod 3-20 connected with the jacking module internal thread stepped shaft 3-11 in a threaded manner and the jacking plate 3-19 welded with the screw rod 3-20 move vertically downwards, goods are lowered until being placed on the ground, and the jacking motor 3-4 stops rotating, and the goods conveying process is completed.
When the grabbing mode is adopted for carrying cargoes:
first, the omnibearing movement of the present invention is realized by controlling the rotation directions of the four driving wheel motors 2-1, so that the present invention reaches a designated position beside the goods to be transported along a certain path.
Next, the gripping portion of the present invention starts to work. The manipulator jacking module 401 controls the manipulator translation module 402 and the manipulator grabbing module 403 to reach a certain height according to requirements (the working principle of this module is the same as the jacking module in the jacking section of the present invention, and will not be described in detail here).
Again, as shown in fig. 7 and 8, the mechanical arm translation motor 4-2 rotates forward, the motion is transmitted to the translation screw rod 4-7 through the translation motor coupler 4-4, so that the translation screw rod 4-7 rotates synchronously, and the mobile station 4-6 is driven to move forward, and if the mechanical arm translation motor 4-2 rotates reversely, the mobile station 4-6 moves backward, so that the mechanical arm grabbing module 403 can extend or retract to a specified position by controlling the mechanical arm translation motor to drive the mechanical arm turntable base 4-10 to translate.
Then, a motor in the mechanical arm turntable base 4-10 works, a built-in speed reducer is controlled to transmit rotary motion to a turntable extending out of the mechanical arm base 4-10, so that the rotary motion of the mechanical arm turntable 4-11 in the horizontal direction is realized, a revolute pair is arranged between the mechanical arm shoulder 4-12 and the mechanical arm big arm 4-13, the mechanical arm big arm 4-13 can perform pitching motion in the vertical direction by controlling the motor in the mechanical arm big arm 4-13, the motor in the mechanical arm elbow 4-14 works to enable the mechanical arm elbow 4-14 to perform pitching motion, and the motor in the mechanical arm small arm 4-15 enables the mechanical arm small arm 4-15 to perform self rotary motion, so that the end effector 4-17 can be controlled to reach a designated position.
When the end effector 4-17 is an electric parallel clamping jaw, as shown in fig. 11, a motor on the parallel clamping jaw can be controlled to rotate positively to drive two meshing gears to rotate relatively, so that the parallel clamping jaw clamps and closes to grab goods; when the end effector 4-17 is an electromagnetic chuck, as shown in fig. 10, the object cargo can be adsorbed by energizing the electromagnetic chuck; when the end effector 4-17 is a vacuum chuck, as shown in fig. 12, the vacuum pump pumps air to adsorb the target cargo onto the vacuum chuck, thereby completing cargo gripping.
Then the invention moves to the target position along the preset path, after the transfer robot stops moving, the mechanical arm lifting module 401 and the mechanical arm translation module 402 move to the specific position, the mechanical arm grabbing module 403 moves simultaneously to move the end effector to the target point, when the end effector 4-17 is an electric parallel clamping jaw, the motor on the parallel clamping jaw is controlled to rotate reversely to drive the two meshing gears to rotate back, so that the parallel clamping jaw is released to place the goods to the target position, then the grabbing part of the invention moves back, and the transfer robot removes to complete the whole process of grabbing and conveying the goods.
The invention can also execute a material distribution working mode, namely, the material distribution working mode is that the material distribution working mode moves to the position right below the position of the goods shelf, the goods shelf is jacked up by using the jacking part, the carrying robot moves according to the appointed line, when the material distribution working mode moves to the position where the material is needed, the grabbing part works to grab the material on the goods shelf to the appointed position, and then the carrying robot continues to move to the next position to distribute the material.
The invention can also execute a material picking working mode, namely the material picking working mode moves to the position right below the position of the goods shelf, the goods shelf is jacked up by using the jacking part, the carrying robot moves according to the appointed line, when the material picking robot moves to the position of the material to be picked, the grabbing part works to grab the material to be picked onto the goods shelf, and then the carrying robot continues to move to pick the material at the next position.
Claims (6)
1. The multifunctional transfer robot is characterized by comprising the following parts:
the frame is square as a whole and comprises a front vertical plate, a rear vertical plate, a left vertical plate, a right vertical plate, a left motor mounting plate, a right motor mounting plate, a jacking part supporting plate and a jacking part supporting column;
a frame driving part arranged on the inner side of the frame and comprising wheels and a wheel driving part;
the jacking part is respectively arranged at the front end of the upper part of the frame and the rear end of the upper part of the frame and comprises two jacking modules, two chain wheels, a chain, a jacking motor and a jacking motor mounting seat;
the grabbing part is arranged in the middle of the frame and comprises a mechanical arm jacking module, a mechanical arm translation module and a mechanical arm grabbing module, wherein the mechanical arm translation module is fixed above the mechanical arm jacking module, the mechanical arm grabbing module is fixed on a translatable component in the mechanical arm translation module, the mechanical arm grabbing module is a mechanical arm with multiple degrees of freedom, and the tail end of the mechanical arm grabbing module is connected with a replaceable tail end actuator and is used for realizing the function of grabbing different materials by the multifunctional transfer robot;
the front vertical plate is an L-shaped plate positioned at the front end, the rear vertical plate is an L-shaped plate positioned at the rear end, the left vertical plate is an L-shaped plate positioned at the leftmost end and the front and rear ends of the frame and respectively fixed on the front vertical plate and the rear vertical plate, the right vertical plate is an L-shaped plate positioned at the rightmost end and the front and rear ends of the frame and respectively fixed on the front vertical plate and the rear vertical plate, the left motor mounting plate is an L-shaped plate positioned at the inner side of the frame and respectively vertically fixed on the front vertical plate and the rear vertical plate at the front and rear ends, the upper end of the middle part of the left motor mounting plate is provided with an arc hole, the right motor mounting plate is an L-shaped plate positioned at the inner side of the frame and respectively vertically fixed on the front vertical plate and the rear vertical plate at the front and rear ends, the jacking part support plate is two, the jacking part support plates are respectively horizontally fixed on the front vertical support column half-lifting support columns and the front and the rear support column half-lifting support columns are respectively fixed on the front half-lifting support columns and the front and the rear support columns;
the wheel driving part comprises a driving wheel motor, a first gear, a second gear, a driving wheel shaft, a driving wheel bearing mounting frame, a wheel retainer ring and a gear retainer ring;
the four driving wheel motors are arranged on the front half part and the rear half part of the inner side of the left motor mounting plate through bolt connection, the other two driving wheel motors are arranged on the front half part and the rear half part of the inner side of the right motor mounting plate through bolt connection, the four first gears are arranged, the first gears are respectively fixed on the driving wheel shaft, the four second gears are respectively fixed on the driving wheel shaft, the second gears are meshed with the first gears, one side of the second gears is tightly attached to the shaft shoulder of the driving wheel shaft, the other side of the second gears is tightly attached to the gear retainer ring, the four wheels are connected to the driving wheel shaft through keys, the two ends of the driving wheel shaft are respectively arranged on the inner ring of the driving wheel bearing, the inner ring of the driving wheel bearing is tightly attached to the shaft shoulder of the driving wheel shaft, the driving wheel bearing is tightly attached to the driving wheel bearing mounting frame, the driving wheel bearing mounting frame is fixed on the left vertical plate, the right vertical plate, the left motor and the right motor mounting plate, the gear retainer ring and the driving wheel retainer ring are fixed in the driving wheel shaft;
the two jacking modules comprise a jacking module shell, a jacking module shell top plate, a worm, a jacking part worm bearing, a jacking module worm bearing mounting seat, a worm wheel, a jacking module internal thread stepped shaft, a lower deep groove ball bearing, a gasket, a thrust ball bearing, a U-shaped ring, an upper deep groove ball bearing, a jacking module dustproof top plate, a guide lifting rod, a jacking plate and a screw rod;
the lifting module shell is connected to the lifting part support column through bolts, the lower end flat plate part of the lifting module shell is fixed on the lifting part support plate, the lifting motor mounting seat is connected to the lower end flat plate part of the lifting module shell through bolts, the lifting motor is horizontally fixed on the lifting motor mounting seat, the chain wheel is connected to the lifting motor shaft through keys, and the chain is meshed with the two chain wheels;
the jacking module shell top plate is fixed on the jacking module shell, two through holes with different sizes and four threaded holes are formed in the jacking module shell top plate, the larger through hole is used for passing through the screw rod, the smaller through hole is used for passing through the guide lifting rod, and the four threaded holes are used for being in threaded connection with the jacking module dustproof top plate and the jacking module shell top plate;
the worm is connected with a shaft pin of the jacking motor, the worm is supported by the jacking part worm bearing, the outer ring of the jacking part worm bearing is abutted against the jacking module worm bearing mounting seat, the inner ring of the jacking part worm bearing is abutted against the worm shaft shoulder, the jacking module worm bearing mounting seat is fixed on the jacking module shell, and the worm wheel is meshed with the worm in the horizontal direction;
the upper end face of the worm wheel is tightly abutted against the lower surface of the U-shaped ring, the upper surface of the U-shaped ring is tightly abutted against the lower end of the inner ring of the upper deep groove ball bearing, the upper end of the outer ring of the upper deep groove ball bearing is tightly abutted against the lower surface of the dustproof top plate of the jacking module, the dustproof top plate of the jacking module is in threaded connection with the upper surface of the shell of the jacking module, the lower end face of the worm wheel is tightly abutted against the upper end face of the shoulder of the stepped shaft of the jacking module, the upper end of the inner ring of the lower deep groove ball bearing is tightly abutted against the lower end of the gasket, the lower end of the gasket is tightly abutted against the upper surface of the thrust ball bearing, the lower surface of the thrust ball bearing is tightly abutted against the shell of the jacking module, the screw rod penetrates through the stepped shaft of the internal thread of the jacking module, the screw rod is in threaded connection with the stepped shaft of the internal thread of the jacking module, the jacking plate is welded on the top of the screw rod for jacking goods, the guide rod is vertically arranged, and the guide rod is welded on the upper surface of the shell of the guide rod;
the mechanical arm jacking module comprises a mechanical arm jacking driving motor and a mechanical arm jacking mechanism, the mechanical arm translation module comprises a mechanical arm translation motor, a mechanical arm translation motor mounting seat, a translation motor coupler, a guide rod mounting seat, a moving table, a translation screw rod, a translation guide rod and a mechanical arm translation chassis, and the mechanical arm grabbing module comprises a mechanical arm turntable base, a mechanical arm turntable, a mechanical arm shoulder, a mechanical arm big arm, a mechanical arm elbow, a mechanical arm small arm, a mechanical arm wrist and an end effector;
the mechanical arm jacking driving motor is horizontally arranged in an arc-shaped hole in the middle of the left motor mounting plate, the mechanical arm jacking driving motor is connected to a worm in the mechanical arm jacking mechanism in a shaft pin manner, and the mechanical arm jacking mechanism and a jacking module in the jacking part are identical in structure;
the mechanical arm translation chassis is fixed on a jacking plate in the mechanical arm jacking mechanism, the mechanical arm translation motor mounting seat is fixed at the left upper end of the mechanical arm translation chassis, the mechanical arm translation motor is connected to the mechanical arm translation motor mounting seat through bolts, the translation screw rod is coaxially mounted with the mechanical arm translation motor through the translation motor coupler, two guide rod mounting seats are respectively fixed at the left and right ends of the upper surface of the mechanical arm translation chassis, through holes are formed in the left part, the middle part and the right part of the guide rod mounting seat, through holes are formed in the left part, the middle part and the right part of the moving table, the translation screw rod penetrates through the two guide rod mounting seats and the middle through hole of the moving table, two translation guide rods are distributed on two sides of the translation screw rod in parallel, the two translation guide rods are respectively connected in the corresponding through holes of the left part and the right part of the two guide rod mounting seats through pins, the two translation guide rods respectively penetrate through the left part and the right part of the moving table, the two guide rods are respectively contacted with the oil film of the moving table through the two oil film translation guide rods, and the oil film is mounted between the two moving tables and the moving table through the surfaces of the moving table;
the mechanical arm turntable base is fixed on the moving table, the mechanical arm turntable is fixed on a rotatable disc extending from the top end of the mechanical arm turntable base, the mechanical arm shoulder is fixed on the mechanical arm turntable, one end of the mechanical arm is connected to a revolute pair of the mechanical arm shoulder, the other end of the mechanical arm is connected to a revolute pair of the mechanical arm elbow, one end of the mechanical arm is connected to a rotating shaft of the mechanical arm elbow, the other end of the mechanical arm is connected to a revolute pair of the mechanical arm wrist, the mechanical arm wrist is fixedly provided with an end effector, and each movable part on the mechanical arm grabbing module is driven by a motor.
2. The multifunctional transfer robot according to claim 1, wherein the lifting module housing is a housing with a flat plate portion at a lower portion and an approximately square upper portion, the lower flat plate of the lifting module housing is provided with threaded holes for threaded connection with the lifting module housing and the lifting portion support plate, the housing of the lifting module housing is provided with two concentric through holes up and down for passing through the worm, and one side of the housing of the lifting module housing is provided with four threaded holes for fixing a worm bearing mounting seat of the lifting module.
3. The multifunctional transfer robot of claim 2, wherein the wheels are mecanum wheels for realizing the omnidirectional movement of the multifunctional transfer robot, and the lifting plate is provided with an anti-slip material for preventing the problem of slipping of goods when the multifunctional transfer robot transfers the goods.
4. The multi-purpose transfer robot of claim 1, wherein the end effector is a pair of parallel jaws.
5. The multi-purpose transfer robot of claim 1, wherein the end effector is an electromagnetic chuck.
6. The multi-purpose transfer robot of claim 1, wherein the end effector is a vacuum chuck.
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| CN201910201004.9A CN109760010B (en) | 2019-03-18 | 2019-03-18 | Multifunctional transfer robot |
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| CN112474520A (en) * | 2020-11-23 | 2021-03-12 | 深圳怪虫机器人有限公司 | Many photovoltaic board array do not have people belt cleaning device independently |
| CN113753784A (en) * | 2021-08-20 | 2021-12-07 | 武汉理工大学 | Transfer robot |
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